Biomorphic propulsion system diving thunniform robotic fish
I. V. Mitin (1, 2), R. A. Korotaev (1, 2), A. A. Ermolaev (2),, V. B. Kazantsev (1, 2, 3) ((1) Immanuel Kant Baltic Federal University,, Kaliningrad, Russia, (2) National Research Lobachevsky State University of, Nizhny Novgorod, Nizhny Novgorod, Russia

TL;DR
This paper presents a biomorphic robotic fish with a novel elastic tail propulsion system that mimics natural fish movement, demonstrating controllable oscillations and effective underwater locomotion through experimental testing.
Contribution
It introduces a new elastic chord-based tail propulsion system with controllable oscillations, designed using computational modeling, and validated through prototype experiments.
Findings
Velocity depends on tail oscillation amplitude and frequency
The system effectively mimics natural thunniform locomotion
Prototype tests confirm controllable and efficient underwater movement
Abstract
A biomorphic propulsion systemfor underwater robotic fish is presented. The system is based on a combination of an elastic chord with a tail fin fixed on it. The tail fin is connected to servomotor by two symmetric movable thrusts simulating muscle contraction. The propulsion system provides oscillatory tail movement with controllable amplitude and frequency. Tail oscillations results in translational movement of the robotic fish implementing the thunniform principle of locomotion. The shape of the body of the robotic fish and the tail fin were designed using computational model simulating virtual body in an aquatic medium. A prototype of robotic fish device was constructed and tested in experimental conditions. Dependencies of fish velocity on the amplitude and frequency of tail oscillations were analyzed.
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Taxonomy
TopicsUnderwater Vehicles and Communication Systems · Micro and Nano Robotics · Modular Robots and Swarm Intelligence
